Nonlinearity and time-delay compensations in state-space model based predictive control

Abstract

In this paper a promising series of modifications of predictive control has been combined in order to extend the functionality of principles of predictive control via linearization. Based on this approach a linear model predictive controller is designed at each point to achieve desired local stability and performance requirements leading to guaranteed functionality through the whole operating range of a nonlinear system. In addition, a compensating technique has been applied in order to deal with the system dynamic burdened with a delayed control input. The improved predictive controller has been implemented and applied on illustrative examples of tank system.